where \(q\in \mathbb {R}^{n}\)  denotes system state, \(\tau \in \mathbb {R}^{n}\)  denotes vector of generalized control input forces, \(M(q)\in \mathbb {R}^{n\times n}\)  represents mass/inertia matrix, \(C(q,\dot{q})\in \mathbb {R}^{n\times n}\)  denotes Coriolis, centripetal terms, \(g(q)\in \mathbb {R}^{n}\)  denotes gravity vector, \(f(\dot{q})\in \mathbb {R}^{n}\)  represents the vector of slip, damping and friction forces and \(d_s(t)\)  denotes the bounded external disturbances. The system (REF ) possesses the following properties [1]}:
